US20110285577A1 - Forward-looking 3d imaging radar and method for acquiring 3d images using the same - Google Patents
Forward-looking 3d imaging radar and method for acquiring 3d images using the same Download PDFInfo
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- US20110285577A1 US20110285577A1 US13/105,096 US201113105096A US2011285577A1 US 20110285577 A1 US20110285577 A1 US 20110285577A1 US 201113105096 A US201113105096 A US 201113105096A US 2011285577 A1 US2011285577 A1 US 2011285577A1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/36—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
Definitions
- the present invention relates to a forward-looking 3D imaging radar, and more particularly, to a forward-looking 3D imaging radar by which 3D image including altitude information at the front of the radar can be obtained, the difficulty in applying delay device on the receiver can be overcome by implementing independent receiver per receiving antenna, and radar image is processed in real time.
- the invention also relates to a method for acquiring 3D image by using the radar.
- the present invention has been designed to solve the problems of prior arts, and aims to provide a forward-looking 3D imaging radar by which 3D image including altitude information at the front of the radar can be obtained, the difficulty in applying delay device on the receiver can be overcome by implementing independent receiver per receiving antenna, and radar image can be processed in real time, and a method for acquiring 3D image by using the radar.
- the forward-looking 3D imaging radar of the present invention comprises a transmitting unit which generates RF signals to be radiated for observing object in front of the radar, a transmitting antenna which radiates the RF signal generated by the transmitting unit, a receiving antenna which receives signals radiated from the transmitting antenna and reflected by the object in front of the radar, a receiving unit which mixes the signal received by the receiving antenna and the signal transmitted by the transmitting unit, and converts the signal to digital signal, and a signal processor which controls the operations of the transmitting unit and receiving unit, sends command to the transmitting unit to generate RF signals, receives the digitally converted signal from the receiving unit and extracts phase information of the object in front of the radar, and generates 3D radar image by producing altitude information based on the principle of interferometer.
- the transmitting unit comprises a DDS (Direct Digital Synthesizer) which generates transmitting waveform, a 4 channel filter bank which selects the transmitting waveform having the optimal frequency on the basis of the waveform generated by the DDS, and a high power amplifier which amplifies the output of the transmitting waveform selected through the 4 channel filter bank.
- DDS Direct Digital Synthesizer
- the transmitting unit preferably generates RF signal of UWB signal of wider than 1 GHz.
- the transmitting antenna is composed of 2 antennas.
- An RF switch can be installed between the transmitting antenna and transmitting unit to select an antenna among the two transmitting antennas.
- the receiving unit comprises a LNA (low-noise amplifier) for amplifying the received signal from the receiving antenna, an amplifier for amplifying the branched signal from transmitting unit, a mixer for mixing the two signals and an A/D (analog-to-digital) converter for converting the analog signal mixed by the mixer to digital signal.
- LNA low-noise amplifier
- A/D analog-to-digital converter
- the receiving antenna is composed of an antenna array comprising a plurality of unit antennas.
- the receiving antenna array is disposed in 2 dimensional arrays.
- the horizontal interval between the unit antennas in the receiving antenna array is set to ⁇ /2 and the vertical interval, d, is set to d ⁇ , where ⁇ is the wavelength of the transmitting signal.
- the method of acquiring 3D image by using a forward-looking 3D imaging radar comprising a transmitting unit which generates RF signals, a transmitting antenna which radiates the RF signal, a receiving antenna which receives signals reflected by the object in front of the radar, a receiving unit which converts the received analog signal to digital signal; and a signal processor which generates 3D radar image, which comprises the steps of: a) generating RF signals to be radiated for observing object in front of the radar; b) radiating the RF signal generated by the transmitting unit to the outside through a transmitting antenna; c) receiving signals radiated from the transmitting antenna and reflected by the object in front of the radar; d) mixing the signal received by the receiving antenna and the branched signal from the transmitting unit, and converting the signal to digital signal; and e) receiving the digitally converted signal from the receiving unit through the signal processor, extracting phase information of the object in front of the radar, and generating 3
- the method further comprises steps of selecting the optimal center frequency of transmitting waveform by a 4 channel filter bank and amplifying by a high power amplifier the output of the 4 channel filter bank.
- the RF signal which is generated by the transmitting unit, is preferably generates UWB RF signal of wider than 1 GHz.
- the method can further comprise the steps of amplifying the signal (analog signal) received from the receiving antenna by a LNA, and amplifying the branched signal from the transmitting unit by an amplifier, and mixing the two signals by using a mixer.
- step d beat frequency of the LFM (Linear Frequency Modulation) signal is detected and sampled in order to mix the signal received by the receiving antenna and the RF signal transmitted by the transmitting unit, and to convert the signal to digital signal.
- LFM Linear Frequency Modulation
- the forward-looking 3D imaging radar of the present invention it is possible to overcome the difficulty in applying delay device on the receiver by implementing independent receiver per receiving antenna, and the radar image can be processed in real time.
- FIG. 1 shows schematically the overall architecture of the forward-looking 3D imaging radar of the present invention
- FIG. 2 shows the architecture of the transmitting unit and receiving unit of the forward-looking 3D imaging radar of the present invention
- FIG. 3 shows the FM waveform transmitted by the transmitting unit of the forward-looking 3D imaging radar of the present invention
- FIG. 4 shows the architecture of the receiving antenna array of the forward-looking 3D imaging radar of the present invention
- FIG. 5 is a flowchart illustrating the overall processes of the method of acquiring 3D image using the forward-looking 3D imaging radar of the present invention
- FIG. 6 is a timing diagram of transmitting and receiving, and processing signals in the method of acquiring 3D image of the present invention
- FIG. 7 illustrates the theory of acquiring altitude information from two antennas
- FIG. 8 is a flowchart illustrating the process of acquiring 3D image information using the two-rows antenna array.
- FIGS. 1 and 2 show the forward-looking 3D imaging radar of the present invention
- FIG. 1 shows schematically the overall architecture of the forward-looking 3D imaging radar of the present invention
- FIG. 2 is the structure of the transmitting unit and receiving unit of the forward-looking 3D imaging radar of the present invention.
- the forward-looking 3D imaging radar of the present invention comprises a transmitting unit 110 , transmitting antennas 120 a , 120 b , a receiving antenna 130 , a receiving unit 140 , a signal processor 150 .
- the transmitting unit 110 generates RF signals to be radiated for observing object in front of the radar.
- the transmitting antennas 120 a , 120 b radiate the RF signal generated by the transmitting unit 110 to the outside.
- the receiving antennas 130 receive signals radiated from the transmitting antenna 120 and reflected by the object in front of the radar.
- the receiving unit 140 mixes the signal received by the receiving antennas 130 and the signal branched from the transmitting unit 110 , and converts the analog signal to digital signal.
- the signal processor 150 controls the operations of the transmitting unit 110 and receiving unit 140 , sends command to the transmitting unit 110 to generate RF signals, receives the digitally converted signal from the receiving unit 140 and extracts phase information of the object in front of the radar, and generates 3D radar image by producing altitude information based on the principle of interferometer.
- the transmitting unit 110 comprises a DDS 111 which generates transmitting waveform, a 4 channel filter bank 112 which selects the transmitting waveform having the optimal frequency on the basis of the waveform generated by the DDS 111 , and a high power amplifier 113 which amplifies the output of the transmitting waveform selected through the 4 channel filter bank 112 .
- the 4 channel filter bank 112 is necessary to select and use optimal frequency in consideration of the density of vegetation in front of the radar.
- the transmitting unit 110 preferably generates RF signal of UWB signal of wider than 1 GHz.
- the UWB signal is necessary since better range resolution can be obtained by using wider band signals.
- signals of 2 GHz bandwidth are used, for example, aliasing can be avoided by the rate of 4 GHz sampling according to Nyquist sampling theory. But current A/D converters do not provide this high sampling rate and high bit resolution.
- LFM waveform as shown in FIG. 3 is transmitted and beat frequency sampling method is applied in the receiving unit 140 , thereby reducing the A/D sampling rate.
- numeral 301 and 302 represent transmitting waveform and receiving waveform, respectively.
- beat frequency f b is calculated by mathematical formula (1) below.
- R is distance
- ⁇ F bandwidth
- c velocity of light
- T p dwell time.
- An RF switch 160 can be installed between the transmitting antennas 120 a , 120 b and transmitting unit 110 to select an antenna among the two transmitting antennas 120 a , 120 b.
- the receiving unit 140 comprises a LNA 141 for amplifying the signal (analog signal) received by the receiving antenna 130 , an amplifier 142 for amplifying the branched signal from the transmitting unit 110 , a mixer 143 for mixing the signal amplified by the LNA 141 and the signal amplified by the amplifier 142 , and an A/D (analog-to-digital) converter 144 for converting the analog signal mixed by the mixer 143 to digital signal.
- LNA 141 for amplifying the signal (analog signal) received by the receiving antenna 130
- an amplifier 142 for amplifying the branched signal from the transmitting unit 110
- a mixer 143 for mixing the signal amplified by the LNA 141 and the signal amplified by the amplifier 142
- an A/D (analog-to-digital) converter 144 for converting the analog signal mixed by the mixer 143 to digital signal.
- the receiving antenna 130 is composed of an antenna array comprising a plurality of unit antennas 130 u . This is for acquiring signals simultaneously with the array.
- the receiving antenna 130 array is disposed in 2 dimensional arrays, as shown in FIG. 4 .
- the horizontal interval between the unit antennas 130 u in the receiving antenna 130 array is set to ⁇ /2 and the vertical interval is set to d ⁇ , ⁇ is wavelength of the transmitting signal.
- the horizontal interval value of ⁇ /2 is determined by experiment in which image of optimal resolution can be obtained.
- the vertical interval is set to d ⁇ since the ambiguity of angle in the combination of each antenna can be resolved.
- any unit antenna 130 u that can transmit and receive wide band signal can be used.
- FIG. 5 is a flowchart illustrating the overall process of the method of acquiring 3D image using the forward-looking 3D imaging radar of the present invention.
- the method of acquiring 3D image of the present invention uses a forward-looking 3D imaging radar comprising a transmitting unit 110 which generates RF signals, a transmitting antennas 120 a , 120 b which radiate the RF signal, a receiving antenna 130 which receives signals reflected by the object in front of the radar, a receiving unit 140 which converts the received signal to digital signal; and a signal processor 150 which generates 3D radar image.
- RF signals are generated by the transmitting unit 110 to be radiated for observing object in front of the radar (step S 510 ).
- RF signal generated by the transmitting unit is radiated to the outside through transmitting antennas 120 a , 120 b (step S 520 ).
- signals radiated from the transmitting antenna and reflected by the object in front of the radar are received by the receiving antenna 130 (step S 530 ), and the signal received by the receiving antenna 130 and the RF signal transmitted by the transmitting unit 110 are mixed by the receiving unit 140 , and converted to digital signal (step S 540 ).
- step S 550 the digitally converted signal from the receiving unit 140 is received through the signal processor 150 , phase information of the object in front of the radar is extracted, and 3D radar image is generated by producing altitude information based on the principle of interferometer.
- the process of extracting phase information of the object and generating 3D radar image by producing altitude information based on the principle of interferometer will be described in more detail later with reference to FIG. 8 .
- the method comprises the steps of selecting by a 4 channel filter bank the transmitting waveform having the optimal frequency on the basis of the waveform, and amplifying by a high power amplifier the output of the transmitting waveform selected through the 4 channel filter bank.
- the method further comprises the steps of selecting by a 4 channel filter bank 112 the transmitting waveform having the optimal frequency on the basis of the waveform, and amplifying by a high power amplifier 113 the output of the transmitting waveform selected through the 4 channel filter bank.
- the method further comprise the steps of amplifying the signal (analog signal) received from the receiving antenna 130 by a low-noise amplifier 141 , and amplifying the branched signal from the transmitting unit 110 by an amplifier 142 , and mixing the two signals by using a mixer 143 .
- beat frequency of the LFM signal is detected and sampled in order to mix the signal received by the receiving antenna 130 and the RF signal transmitted by the transmitting unit 110 , and to convert the analog signal to digital signal.
- the method of sampling beat frequency has been described above with regard to mathematical formula (1), and will be omitted.
- FIG. 6 is a timing diagram of transmitting and receiving, and processing signals in the method of acquiring 3D image of the present invention.
- waveform is transmitted through transmitting antenna “Tx. 1 ” represented by numeral 601 with time of 604 , namely T p time (dwell time), and signal is simultaneously received by all receiving antennas from “Rx. 1 ” to “Rx.N” receiving time of antenna “Rx. 1 ” is represented by numeral 603 .
- the time A namely the time of 607 , is a time corresponding to the round-trip distance to the maximum detection range.
- the receiving antenna receives the signal.
- the time T d1 of 605 is the time for preparing transmission of waveform through “Tx. 2 ” antenna of 602 .
- the time represented by 606 is the time required for signal processing.
- SAR Synthetic Aperture Radar
- ⁇ -K migration method As to the method for generating radar image from the RF received signal acquired by the receiving antenna, SAR (Synthetic Aperture Radar) imaging method such as Back Projection or ⁇ -K migration method is applied. While specific explanation on the above methods will be omitted, the method of acquiring 3D image of the present invention will be described based on Back-projection algorithm.
- the image pixels acquired by two receiving antennas separated by distance d, as shown in FIG. 4 have phase information ⁇ 1 and ⁇ 2 .
- the difference of distance ⁇ R as shown in FIG.
- the altitude information h of FIG. 7 can be calculated by using the mathematical formula (3), from the distance d between two antennas, height H of installed antenna, the distance R the first receiving antenna (Ant 1 ) to the object in front of the antenna, and the phase difference calculated by the mathematical formula (2).
- FIG. 8 is a flowchart illustrating the process of acquiring 3D image information using the two-rows antenna array.
- 2D radar image information is acquired by using the signals measured by the first and second rows ( 401 and 402 in FIG. 4 ) of the receiving antenna (steps S 801 , S 802 ).
- altitude information (h) of the each pixel is calculated (step S 806 ).
- the altitude information (h) can be calculated by using the above mathematical formula (3).
- the process of FIG. 8 as described above is a method for acquiring 3D image information after transmitting RF signal by using one transmitting antenna. But there are methods for improving the quality of the image by using two transmitting antennas.
- Method 1 Averaging the pixel information of 3D image
- a) acquires two 2D images and altitude information by transmitting RF signals by using the first transmitting antenna ( 120 a in FIG. 1 ) and carrying out the process by using two receiving antenna arrays (receiving antenna arrays 401 and 402 in FIG. 4 ) as shown in the FIG. 8 .
- c) generates 3D image information map by generating average map of the 2D image and altitude information, which is generated by calculating the amount of motion of the 2D image and altitude information acquired in the steps a) and b) by using a image registration method or a tachometer installed on the vehicle, and compensates the 2D image and altitude information by reflecting the calculated amount of motion to the 2D image and altitude information acquired by the step b).
- Method 2 Averaging the phases obtained by the first receiving unit and the second receiving unit
- a) transmits RF signals by using the first transmitting antenna ( 120 a in FIG. 1 ) and acquires raw data containing phase information by using two receiving antenna arrays (receiving antenna arrays 401 and 402 in FIG. 4 ).
- phase information obtained by the second transmitting antenna varies according to the movement of the vehicle. So, the phase is compensated by first measuring the velocity of a vehicle through built-in tachometer, thereby calculating moved distance, then calculating phase compensation value ( ⁇ comp ) by using the mathematical formula (4) for compensating the change in the phase information obtained by the second transmitting antenna, and reflecting the calculated compensation value ( ⁇ comp ) to the raw data obtained in the step b);
- T a corresponds to T p +T d1 in FIG. 6 .
- step d) evaluates the average of the phase of each raw data obtained in the step a) and in the step c) per two receiving antenna arrays (receiving antenna arrays 401 and 402 in FIG. 4 ).
- e obtains 2D images by using each of the two data which is phase-averaged, and generates 3D image information map by performing the process in the order as described in the flowchart of FIG. 8 .
- the forward-looking 3D imaging radar and the method for acquiring 3D image by using the forward-looking 3D imaging radar of the present invention two 2D images are generated by using row of each receiving antenna, and altitude information is obtained based on the phase difference in the phases of the two 2D images by using the principle of interferometer. Therefore, by applying the forward-looking 3D imaging radar in the autonomous vehicle, the performance of the autonomous vehicle can be greatly improved.
- the forward-looking 3D imaging radar of the present invention it is possible to overcome the difficulty in applying delay device on the receiver by implementing independent receiver per receiving antenna, and the radar image can be processed in real time.
- DDS Direct Digital Synthesizer
- 112 4 channel filter bank 113 high power amplifier 120a, 120b transmitting antennas 130 receiving antenna 140 receiving unit 141 LNA (low-noise amplifier) 142 amplifier 143 mixer 144 A/D converter 150 signal processor 160 RF switch
Abstract
Description
- The present invention relates to a forward-looking 3D imaging radar, and more particularly, to a forward-looking 3D imaging radar by which 3D image including altitude information at the front of the radar can be obtained, the difficulty in applying delay device on the receiver can be overcome by implementing independent receiver per receiving antenna, and radar image is processed in real time. The invention also relates to a method for acquiring 3D image by using the radar.
- The research on the imaging radar device for an unmanned ground vehicle operating in the field has been published in the US Army Research Laboratory as an essay. But the research was on 2D imaging radar that did not include information on altitude. Although the UWB (ultra-wide band) radar for foliage penetration aimed to process conventional 2D image has proposed a method for reducing the number of receiver by applying RF delay device to the receiver and receiving a signal with differentiated delay time per receiver, it was difficult to implement exact time delay for a short time by using the RF delay, making it hard to actual implementation of hardware.
- The present invention has been designed to solve the problems of prior arts, and aims to provide a forward-looking 3D imaging radar by which 3D image including altitude information at the front of the radar can be obtained, the difficulty in applying delay device on the receiver can be overcome by implementing independent receiver per receiving antenna, and radar image can be processed in real time, and a method for acquiring 3D image by using the radar.
- In order to achieve the object of the present invention, the forward-looking 3D imaging radar of the present invention comprises a transmitting unit which generates RF signals to be radiated for observing object in front of the radar, a transmitting antenna which radiates the RF signal generated by the transmitting unit, a receiving antenna which receives signals radiated from the transmitting antenna and reflected by the object in front of the radar, a receiving unit which mixes the signal received by the receiving antenna and the signal transmitted by the transmitting unit, and converts the signal to digital signal, and a signal processor which controls the operations of the transmitting unit and receiving unit, sends command to the transmitting unit to generate RF signals, receives the digitally converted signal from the receiving unit and extracts phase information of the object in front of the radar, and generates 3D radar image by producing altitude information based on the principle of interferometer.
- The transmitting unit comprises a DDS (Direct Digital Synthesizer) which generates transmitting waveform, a 4 channel filter bank which selects the transmitting waveform having the optimal frequency on the basis of the waveform generated by the DDS, and a high power amplifier which amplifies the output of the transmitting waveform selected through the 4 channel filter bank.
- The transmitting unit preferably generates RF signal of UWB signal of wider than 1 GHz.
- Also, the transmitting antenna is composed of 2 antennas.
- An RF switch can be installed between the transmitting antenna and transmitting unit to select an antenna among the two transmitting antennas.
- Also, the receiving unit comprises a LNA (low-noise amplifier) for amplifying the received signal from the receiving antenna, an amplifier for amplifying the branched signal from transmitting unit, a mixer for mixing the two signals and an A/D (analog-to-digital) converter for converting the analog signal mixed by the mixer to digital signal.
- Also, the receiving antenna is composed of an antenna array comprising a plurality of unit antennas.
- Also, the receiving antenna array is disposed in 2 dimensional arrays.
- The horizontal interval between the unit antennas in the receiving antenna array is set to λ/2 and the vertical interval, d, is set to d≦λ, where λ is the wavelength of the transmitting signal.
- Also, in order to achieve the object of the present invention, the method of acquiring 3D image by using a forward-looking 3D imaging radar, comprising a transmitting unit which generates RF signals, a transmitting antenna which radiates the RF signal, a receiving antenna which receives signals reflected by the object in front of the radar, a receiving unit which converts the received analog signal to digital signal; and a signal processor which generates 3D radar image, which comprises the steps of: a) generating RF signals to be radiated for observing object in front of the radar; b) radiating the RF signal generated by the transmitting unit to the outside through a transmitting antenna; c) receiving signals radiated from the transmitting antenna and reflected by the object in front of the radar; d) mixing the signal received by the receiving antenna and the branched signal from the transmitting unit, and converting the signal to digital signal; and e) receiving the digitally converted signal from the receiving unit through the signal processor, extracting phase information of the object in front of the radar, and generating 3D radar image by producing altitude information based on the principle of interferometer.
- In the step a), after RF signal is generated by the transmitting unit, the method further comprises steps of selecting the optimal center frequency of transmitting waveform by a 4 channel filter bank and amplifying by a high power amplifier the output of the 4 channel filter bank.
- In the step a), the RF signal, which is generated by the transmitting unit, is preferably generates UWB RF signal of wider than 1 GHz.
- In the step d), the method can further comprise the steps of amplifying the signal (analog signal) received from the receiving antenna by a LNA, and amplifying the branched signal from the transmitting unit by an amplifier, and mixing the two signals by using a mixer.
- Also, in step d), beat frequency of the LFM (Linear Frequency Modulation) signal is detected and sampled in order to mix the signal received by the receiving antenna and the RF signal transmitted by the transmitting unit, and to convert the signal to digital signal.
- By using the forward-looking 3D imaging radar of the present invention, it is possible to overcome the difficulty in applying delay device on the receiver by implementing independent receiver per receiving antenna, and the radar image can be processed in real time.
- The foregoing and other aspects of the present invention will become apparent to those skilled in the art to which the present invention relates upon reading the following description with reference to the accompanying drawings, in which:
-
FIG. 1 shows schematically the overall architecture of the forward-looking 3D imaging radar of the present invention; -
FIG. 2 shows the architecture of the transmitting unit and receiving unit of the forward-looking 3D imaging radar of the present invention; -
FIG. 3 shows the FM waveform transmitted by the transmitting unit of the forward-looking 3D imaging radar of the present invention; -
FIG. 4 shows the architecture of the receiving antenna array of the forward-looking 3D imaging radar of the present invention; -
FIG. 5 is a flowchart illustrating the overall processes of the method of acquiring 3D image using the forward-looking 3D imaging radar of the present invention; -
FIG. 6 is a timing diagram of transmitting and receiving, and processing signals in the method of acquiring 3D image of the present invention; -
FIG. 7 illustrates the theory of acquiring altitude information from two antennas; and -
FIG. 8 is a flowchart illustrating the process of acquiring 3D image information using the two-rows antenna array. - The invention will now be described with reference to the drawings attached.
-
FIGS. 1 and 2 show the forward-looking 3D imaging radar of the present invention,FIG. 1 shows schematically the overall architecture of the forward-looking 3D imaging radar of the present invention, andFIG. 2 is the structure of the transmitting unit and receiving unit of the forward-looking 3D imaging radar of the present invention. - Referring to
FIGS. 1 and 2 , the forward-looking 3D imaging radar of the present invention comprises a transmittingunit 110, transmittingantennas antenna 130, areceiving unit 140, asignal processor 150. - The transmitting
unit 110 generates RF signals to be radiated for observing object in front of the radar. - The transmitting
antennas unit 110 to the outside. - The
receiving antennas 130 receive signals radiated from the transmittingantenna 120 and reflected by the object in front of the radar. - The
receiving unit 140 mixes the signal received by thereceiving antennas 130 and the signal branched from the transmittingunit 110, and converts the analog signal to digital signal. - The
signal processor 150 controls the operations of the transmittingunit 110 and receivingunit 140, sends command to the transmittingunit 110 to generate RF signals, receives the digitally converted signal from the receivingunit 140 and extracts phase information of the object in front of the radar, and generates 3D radar image by producing altitude information based on the principle of interferometer. - Here, as shown in
FIG. 2 , thetransmitting unit 110 comprises a DDS 111 which generates transmitting waveform, a 4channel filter bank 112 which selects the transmitting waveform having the optimal frequency on the basis of the waveform generated by the DDS 111, and ahigh power amplifier 113 which amplifies the output of the transmitting waveform selected through the 4channel filter bank 112. The 4channel filter bank 112 is necessary to select and use optimal frequency in consideration of the density of vegetation in front of the radar. - Also, the transmitting
unit 110 preferably generates RF signal of UWB signal of wider than 1 GHz. The UWB signal is necessary since better range resolution can be obtained by using wider band signals. When signals of 2 GHz bandwidth are used, for example, aliasing can be avoided by the rate of 4 GHz sampling according to Nyquist sampling theory. But current A/D converters do not provide this high sampling rate and high bit resolution. - So, in the present invention, LFM waveform as shown in
FIG. 3 is transmitted and beat frequency sampling method is applied in thereceiving unit 140, thereby reducing the A/D sampling rate. InFIG. 3 ,numeral -
- An
RF switch 160 can be installed between thetransmitting antennas unit 110 to select an antenna among the twotransmitting antennas - Also, the
receiving unit 140, as shown inFIG. 2 , comprises aLNA 141 for amplifying the signal (analog signal) received by thereceiving antenna 130, anamplifier 142 for amplifying the branched signal from the transmittingunit 110, amixer 143 for mixing the signal amplified by theLNA 141 and the signal amplified by theamplifier 142, and an A/D (analog-to-digital)converter 144 for converting the analog signal mixed by themixer 143 to digital signal. - Also, the
receiving antenna 130 is composed of an antenna array comprising a plurality ofunit antennas 130 u. This is for acquiring signals simultaneously with the array. - Also, the
receiving antenna 130 array is disposed in 2 dimensional arrays, as shown inFIG. 4 . - The horizontal interval between the
unit antennas 130 u in thereceiving antenna 130 array is set to λ/2 and the vertical interval is set to d λ, λ is wavelength of the transmitting signal. Here, the horizontal interval value of λ/2 is determined by experiment in which image of optimal resolution can be obtained. Also, the vertical interval is set to d≦λ since the ambiguity of angle in the combination of each antenna can be resolved. - There is no special restriction on the antenna and any
unit antenna 130 u that can transmit and receive wide band signal can be used. - Now, the method of acquiring 3D image by using a forward-looking 3D imaging radar of the present invention will be described.
-
FIG. 5 is a flowchart illustrating the overall process of the method of acquiring 3D image using the forward-looking 3D imaging radar of the present invention. - Referring to
FIG. 5 , the method of acquiring 3D image of the present invention uses a forward-looking 3D imaging radar comprising a transmittingunit 110 which generates RF signals, a transmittingantennas antenna 130 which receives signals reflected by the object in front of the radar, a receivingunit 140 which converts the received signal to digital signal; and asignal processor 150 which generates 3D radar image. - In the method of the present invention, first, RF signals are generated by the transmitting
unit 110 to be radiated for observing object in front of the radar (step S510). - Then, RF signal generated by the transmitting unit is radiated to the outside through transmitting
antennas antenna 130 and the RF signal transmitted by the transmittingunit 110 are mixed by the receivingunit 140, and converted to digital signal (step S540). - Then the digitally converted signal from the receiving
unit 140 is received through thesignal processor 150, phase information of the object in front of the radar is extracted, and 3D radar image is generated by producing altitude information based on the principle of interferometer (step S550). The process of extracting phase information of the object and generating 3D radar image by producing altitude information based on the principle of interferometer will be described in more detail later with reference toFIG. 8 . - The method comprises the steps of selecting by a 4 channel filter bank the transmitting waveform having the optimal frequency on the basis of the waveform, and amplifying by a high power amplifier the output of the transmitting waveform selected through the 4 channel filter bank.
- At the step S510, after generating RF signal by the transmitting
unit 110, the method further comprises the steps of selecting by a 4channel filter bank 112 the transmitting waveform having the optimal frequency on the basis of the waveform, and amplifying by ahigh power amplifier 113 the output of the transmitting waveform selected through the 4 channel filter bank. - Also at the step S540, the method further comprise the steps of amplifying the signal (analog signal) received from the receiving
antenna 130 by a low-noise amplifier 141, and amplifying the branched signal from the transmittingunit 110 by anamplifier 142, and mixing the two signals by using amixer 143. - Also, at the step S540, beat frequency of the LFM signal is detected and sampled in order to mix the signal received by the receiving
antenna 130 and the RF signal transmitted by the transmittingunit 110, and to convert the analog signal to digital signal. The method of sampling beat frequency has been described above with regard to mathematical formula (1), and will be omitted. - In these series of processes, more details will be described in regard to transmitting and receiving signals by the transmitting
unit 110 and receivingunit 140, and signal processing by thesignal processor 150 with reference toFIG. 6 . -
FIG. 6 is a timing diagram of transmitting and receiving, and processing signals in the method of acquiring 3D image of the present invention. - Referring to
FIG. 6 , waveform is transmitted through transmitting antenna “Tx.1” represented by numeral 601 with time of 604, namely Tp time (dwell time), and signal is simultaneously received by all receiving antennas from “Rx.1” to “Rx.N” receiving time of antenna “Rx.1” is represented bynumeral 603. At this step, the time A, namely the time of 607, is a time corresponding to the round-trip distance to the maximum detection range. - Therefore, for the time of “Tp+Δ”, the receiving antenna receives the signal. The time Td1 of 605 is the time for preparing transmission of waveform through “Tx.2” antenna of 602. And, the time represented by 606 is the time required for signal processing.
- Meanwhile, as to the method for generating radar image from the RF received signal acquired by the receiving antenna, SAR (Synthetic Aperture Radar) imaging method such as Back Projection or ω-K migration method is applied. While specific explanation on the above methods will be omitted, the method of acquiring 3D image of the present invention will be described based on Back-projection algorithm. The image pixels acquired by two receiving antennas separated by distance d, as shown in
FIG. 4 , have phase information φ1 and φ2. To obtain altitude information of one pixel, the difference of distance ΔR as shown inFIG. 7 , namely the difference of distance between the measured distance R1 which is the distance from the first receiving antenna (Ant1) to the object in front of the antenna, and measured distance R2 which is the distance from the second receiving antenna (Ant2) to the object in front of the antenna, is needed, which can be obtained from relation with the phase difference φ, ΔR, and the wavelength λ of the received signal by using the mathematical formula (2). -
- The altitude information h of
FIG. 7 can be calculated by using the mathematical formula (3), from the distance d between two antennas, height H of installed antenna, the distance R the first receiving antenna (Ant1) to the object in front of the antenna, and the phase difference calculated by the mathematical formula (2). -
-
FIG. 8 is a flowchart illustrating the process of acquiring 3D image information using the two-rows antenna array. - Referring to
FIG. 8 which shows more detailed process of extracting phase information in the step S550 of flowchart ofFIG. 5 and generating 3D radar image by generating altitude information based on the principle of interferometer, 2D radar image information is acquired by using the signals measured by the first and second rows (401 and 402 inFIG. 4 ) of the receiving antenna (steps S801, S802). - Then, phases (φ1, φ2) of each pixel from the information of the acquired image is calculated (steps S803, S804). Then, phase difference (φ=φ1−φ2) of two pixels from the phases (φ1, φ2) is calculated (step S805). At this step, the phase difference (φ=φ1−φ2) can be calculated by using the above mathematical formula (2).
- Then, altitude information (h) of the each pixel is calculated (step S806). The altitude information (h) can be calculated by using the above mathematical formula (3).
- After calculating the phase difference (φ=φ1−φ2) and altitude information (h), it is determined whether all the pixels are calculated (step S807). When all the pixels are not determined to be calculated in the above step (namely, there remain uncalculated pixels), the process is returned to the step S803, S804 for the first and second rows of the receiving antenna, and when all the pixels are calculated, 3D image information map based on one 2D image and the altitude information calculated in the step S806 is generated (step S808).
- The process of
FIG. 8 as described above is a method for acquiring 3D image information after transmitting RF signal by using one transmitting antenna. But there are methods for improving the quality of the image by using two transmitting antennas. - Method 1: Averaging the pixel information of 3D image
- a) acquires two 2D images and altitude information by transmitting RF signals by using the first transmitting antenna (120 a in
FIG. 1 ) and carrying out the process by using two receiving antenna arrays (receivingantenna arrays FIG. 4 ) as shown in theFIG. 8 . - b) acquires two 2D images and altitude information by transmitting RF signals by using the second transmitting antenna (120 b in
FIG. 1 ) and carrying out the process by using two receiving antenna arrays (receivingantenna arrays FIG. 4 ) as shown in theFIG. 8 . - c) generates 3D image information map by generating average map of the 2D image and altitude information, which is generated by calculating the amount of motion of the 2D image and altitude information acquired in the steps a) and b) by using a image registration method or a tachometer installed on the vehicle, and compensates the 2D image and altitude information by reflecting the calculated amount of motion to the 2D image and altitude information acquired by the step b).
- Method 2: Averaging the phases obtained by the first receiving unit and the second receiving unit
- a) transmits RF signals by using the first transmitting antenna (120 a in
FIG. 1 ) and acquires raw data containing phase information by using two receiving antenna arrays (receivingantenna arrays FIG. 4 ). - b) transmits RF signals by using the second transmitting antenna (120 b in
FIG. 1 ) and acquires raw data containing phase information by using two receiving antenna arrays (receivingantenna arrays FIG. 4 ). - c) When the vehicle carrying the radar moves after transmitting RF through the first transmitting antenna, the phase information obtained by the second transmitting antenna varies according to the movement of the vehicle. So, the phase is compensated by first measuring the velocity of a vehicle through built-in tachometer, thereby calculating moved distance, then calculating phase compensation value (φcomp) by using the mathematical formula (4) for compensating the change in the phase information obtained by the second transmitting antenna, and reflecting the calculated compensation value (φcomp) to the raw data obtained in the step b);
-
- where fc is center frequency, v is velocity of the vehicle, c is velocity of light, and Ta corresponds to Tp+Td1 in
FIG. 6 . - d) evaluates the average of the phase of each raw data obtained in the step a) and in the step c) per two receiving antenna arrays (receiving
antenna arrays FIG. 4 ). - e) obtains 2D images by using each of the two data which is phase-averaged, and generates 3D image information map by performing the process in the order as described in the flowchart of
FIG. 8 . - As described above, according to the forward-looking 3D imaging radar and the method for acquiring 3D image by using the forward-looking 3D imaging radar of the present invention two 2D images are generated by using row of each receiving antenna, and altitude information is obtained based on the phase difference in the phases of the two 2D images by using the principle of interferometer. Therefore, by applying the forward-looking 3D imaging radar in the autonomous vehicle, the performance of the autonomous vehicle can be greatly improved.
- By using the forward-looking 3D imaging radar of the present invention, it is possible to overcome the difficulty in applying delay device on the receiver by implementing independent receiver per receiving antenna, and the radar image can be processed in real time.
- The present invention has been described in detail with reference to a preferable example. The invention, however, is not limited by the example, and it is obvious that the example can be variously modified by those skilled in the art within the scope of the present invention. Accordingly, the scope of the invention should be interpreted by the claims attached, and all technical ideas which are equivalent to the present invention should be regarded as belonging to the scope of the present invention.
-
-
110 transmitting unit 111 DDS (Direct Digital Synthesizer) 112 4 channel filter bank 113 high power amplifier 120a, 120b transmitting antennas 130 receiving antenna 140 receiving unit 141 LNA (low-noise amplifier) 142 amplifier 143 mixer 144 A/ D converter 150 signal processor 160 RF switch
Claims (15)
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US8471759B2 (en) | 2013-06-25 |
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